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This paper presents a design and implementation of simultaneous localization and mapping (SLAM) of a mobile robot using a monocular camera. The vSLAM system is based on techniques of extended Kalman filter (EKF) and scaling invariant feature transform (SIFT) algorithms. We propose in this paper a new method to discard outliers and improve the feature matching rate by using the characteristic of monocular...
This paper presents a design of simultaneous localization and mapping (SLAM) for an omni-directional mobile robot using an omni-directional camera. A method is proposed to realize visual SLAM of the omni-directional mobile robot based on extended Kalman filter (EKF). Taking advantage of the 360deg view of omni-directional images, visual reference scan approach is adopted in the SLAM design. Features...
This paper presents a novel method for mobile robot localization based on multi-robot cooperative sensing. A multi-robot cooperative localization scheme is proposed using visual detection and sensor data fusion. The visual detection system employs a stereo vision module for both observing other robots and obtaining environmental information. Each mobile robot is able to recognize its teammates by...
This paper presents a novel design of visual state estimation for an image-based tracking control system to estimate system state during visual tracking control process. The advantage of this design is that it can estimate the target status and target image velocity without using the knowledge of target's 3D motion-model information. This advantage is helpful for real-time visual tracking controller...
This paper presents a novel design of a robust visual tracking control system, which consists of a visual tracking controller and a visual state estimator. This system facilitates human-robot interaction of a unicycle-modeled mobile robot equipped with a tilt camera. Based on a novel dual-Jacobian visual interaction model, a dynamic motion target can be tracked using a single visual tracking controller...
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